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Dos2unix flight/CopterControl/System/coptercontrol.c

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James Cotton 2011-07-30 10:06:35 +09:00
parent 96c2d24253
commit 23e9b56839
1 changed files with 97 additions and 97 deletions
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flight/CopterControl/System/coptercontrol.c
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@ -1,97 +1,97 @@
/** /**
****************************************************************************** ******************************************************************************
* @addtogroup OpenPilotSystem OpenPilot System * @addtogroup OpenPilotSystem OpenPilot System
* @brief These files are the core system files of OpenPilot. * @brief These files are the core system files of OpenPilot.
* They are the ground layer just above PiOS. In practice, OpenPilot actually starts * They are the ground layer just above PiOS. In practice, OpenPilot actually starts
* in the main() function of openpilot.c * in the main() function of openpilot.c
* @{ * @{
* @addtogroup OpenPilotCore OpenPilot Core * @addtogroup OpenPilotCore OpenPilot Core
* @brief This is where the OP firmware starts. Those files also define the compile-time * @brief This is where the OP firmware starts. Those files also define the compile-time
* options of the firmware. * options of the firmware.
* @{ * @{
* @file openpilot.c * @file openpilot.c
* @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010. * @author The OpenPilot Team, http://www.openpilot.org Copyright (C) 2010.
* @brief Sets up and runs main OpenPilot tasks. * @brief Sets up and runs main OpenPilot tasks.
* @see The GNU Public License (GPL) Version 3 * @see The GNU Public License (GPL) Version 3
* *
*****************************************************************************/ *****************************************************************************/
/* /*
* This program is free software; you can redistribute it and/or modify * This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by * it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 3 of the License, or * the Free Software Foundation; either version 3 of the License, or
* (at your option) any later version. * (at your option) any later version.
* *
* This program is distributed in the hope that it will be useful, but * This program is distributed in the hope that it will be useful, but
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY * WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License * or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License
* for more details. * for more details.
* *
* You should have received a copy of the GNU General Public License along * You should have received a copy of the GNU General Public License along
* with this program; if not, write to the Free Software Foundation, Inc., * with this program; if not, write to the Free Software Foundation, Inc.,
* 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*/ */
/* OpenPilot Includes */ /* OpenPilot Includes */
#include "openpilot.h" #include "openpilot.h"
#include "uavobjectsinit.h" #include "uavobjectsinit.h"
#include "systemmod.h" #include "systemmod.h"
/* Task Priorities */ /* Task Priorities */
#define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3) #define PRIORITY_TASK_HOOKS (tskIDLE_PRIORITY + 3)
/* Global Variables */ /* Global Variables */
/* Prototype of PIOS_Board_Init() function */ /* Prototype of PIOS_Board_Init() function */
extern void PIOS_Board_Init(void); extern void PIOS_Board_Init(void);
extern void Stack_Change(void); extern void Stack_Change(void);
/** /**
* OpenPilot Main function: * OpenPilot Main function:
* *
* Initialize PiOS<BR> * Initialize PiOS<BR>
* Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR> * Create the "System" task (SystemModInitializein Modules/System/systemmod.c) <BR>
* Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller) * Start FreeRTOS Scheduler (vTaskStartScheduler) (Now handled by caller)
* If something goes wrong, blink LED1 and LED2 every 100ms * If something goes wrong, blink LED1 and LED2 every 100ms
* *
*/ */
int main() int main()
{ {
/* NOTE: Do NOT modify the following start-up sequence */ /* NOTE: Do NOT modify the following start-up sequence */
/* Any new initialization functions should be added in OpenPilotInit() */ /* Any new initialization functions should be added in OpenPilotInit() */
/* Brings up System using CMSIS functions, enables the LEDs. */ /* Brings up System using CMSIS functions, enables the LEDs. */
PIOS_SYS_Init(); PIOS_SYS_Init();
/* Architecture dependant Hardware and /* Architecture dependant Hardware and
* core subsystem initialisation * core subsystem initialisation
* (see pios_board.c for your arch) * (see pios_board.c for your arch)
* */ * */
PIOS_Board_Init(); PIOS_Board_Init();
/* Initialize modules */ /* Initialize modules */
MODULE_INITIALISE_ALL MODULE_INITIALISE_ALL
/* swap the stack to use the IRQ stack */ /* swap the stack to use the IRQ stack */
Stack_Change(); Stack_Change();
/* Start the FreeRTOS scheduler which should never returns.*/ /* Start the FreeRTOS scheduler which should never returns.*/
vTaskStartScheduler(); vTaskStartScheduler();
/* If all is well we will never reach here as the scheduler will now be running. */ /* If all is well we will never reach here as the scheduler will now be running. */
/* Do some indication to user that something bad just happened */ /* Do some indication to user that something bad just happened */
PIOS_LED_Off(LED1); \ PIOS_LED_Off(LED1); \
for(;;) { \ for(;;) { \
PIOS_LED_Toggle(LED1); \ PIOS_LED_Toggle(LED1); \
PIOS_DELAY_WaitmS(100); \ PIOS_DELAY_WaitmS(100); \
}; };
return 0; return 0;
} }
/** /**
* @} * @}
* @} * @}
*/ */